Heavy haul locomotive anti-skid control method based on asymmetric barrier liapunov function

A technology of heavy-duty locomotives and control methods, which is applied to locomotives and other fields, and can solve problems such as difficulty in effectively utilizing the traction power of heavy-duty locomotives

Active Publication Date: 2017-07-25
HUNAN UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this re-adhesion control method is that the phenomenon of wheel set idling or sliding cannot be completely avoided, and it is difficult to effectively utilize the traction power of heavy-duty locomotives.

Method used

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  • Heavy haul locomotive anti-skid control method based on asymmetric barrier liapunov function
  • Heavy haul locomotive anti-skid control method based on asymmetric barrier liapunov function
  • Heavy haul locomotive anti-skid control method based on asymmetric barrier liapunov function

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Embodiment 1

[0038] figure 1 It is a schematic flowchart of a heavy-duty locomotive anti-skid control method based on an asymmetric obstacle Lyapunov function according to Embodiment 1 of the present invention. Such as figure 1 As shown, the flowchart includes the following steps, including:

[0039] Step 1. Taking the motor rotor angular velocity as the state variable, establish a mathematical model of the heavy-duty locomotive traction motor

[0040]

[0041] In the formula, x=[ω m v s ] T , u=T m , A=[0 0] T , T m is the output torque of the traction motor, T L is the load torque of the traction motor, J m is the moment of inertia of the traction motor, R g is the transmission ratio of the gearbox, r is the radius of the wheel set, v t is the body speed;

[0042] Step 2, select the state variable x 1 , designing a sliding mode observer to achieve electronic rotor position load torque and coefficient of adhesion observation

[0043] In the formula, A 1 = 0,...

Embodiment 2

[0058] figure 2 It is a schematic diagram of the overall structure according to Embodiment 1 of the present invention, as figure 1 As shown, this embodiment provides a heavy-duty locomotive anti-skid control method based on asymmetric obstacle Lyapunov function, the method includes: a three-phase bridge inverter circuit 1, a current signal acquisition unit 2, a heavy-duty locomotive traction motor 3. Vehicle speed and wheel speed signal acquisition unit 4, coordinate transformation module 5, heavy-duty locomotive anti-skid control module 6, DSP control unit 7, optimal creep speed setting unit 8; the input terminal of the three-phase bridge inverter circuit 1 is connected to The output ends are respectively connected to the DSP control unit 7 and the current signal acquisition unit 2, the output end of the current signal acquisition unit 2 is connected to the heavy-duty locomotive traction motor 3 and the coordinate transformation module 5, the input end and the output end of ...

Embodiment 3

[0061] This embodiment is a supplementary description based on the first embodiment.

[0062] image 3 It is a schematic diagram of the principle of the heavy-duty locomotive anti-skid control module according to Embodiment 2 of the present invention. The heavy-duty locomotive anti-skid control module 6 includes: an adhesion coefficient sliding mode observer 61, an asymmetric obstacle Lyapunlov anti-skid controller 62; The output end of the sliding mode observer 61 is connected with the input end of the asymmetric obstacle Lyapunov anti-slip controller 62 .

[0063] Described sticking coefficient sliding mode observer 61 comprises traction motor electromagnetic torque extraction unit, traction motor rotor speed and position extraction unit, sliding mode observer, anti-chattering unit; The output terminal of traction motor electromagnetic torque extraction unit is connected with The input end of the sliding mode observer is connected, the output end of the traction motor angul...

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Abstract

The invention discloses a heavy haul locomotive anti-skid control method based on an asymmetric barrier liapunov function. The method is used for controlling the torque of a traction motor of a heavy haul locomotive. According to the method, an adhesion factor sliding-mode observer and an asymmetric barrier liapunov anti-skid controller are involved. The asymmetric barrier liapunov anti-skid controller comprises a creep state distinguishing unit, an asymmetric barrier liapunov function selecting unit and a traction motor torque given value calculation unit, and the given torque value of the traction motor of the heavy haul locomotive is calculated. By adoption of the heavy haul locomotive anti-skid control method based on the asymmetric barrier liapunov function, accurate anti-skid control over the heavy haul locomotive can be achieved under the conditions of variation of all types of complex road surfaces. In addition, through design of the adhesion factor sliding-mode observer based on a sliding-mode observer, the adhesion factor is accurately measured, and the flexibility and the stability of a heavy haul locomotive anti-skid control system are further improved.

Description

technical field [0001] The invention relates to the technical field of anti-skid control of heavy-duty locomotives, in particular to an anti-skid control method of heavy-duty locomotives based on an asymmetric obstacle Lyapunov function, and is a method especially suitable for anti-skid control of heavy-duty locomotives under complex road conditions. Background technique [0002] With the rapid growth of railway freight demand, heavy-duty freight will become the focus of railway construction after high-speed passenger transportation, and heavy-duty electric locomotives have become the mainstream development direction of freight rail transportation equipment due to their huge traction power. [0003] During the operation of heavy-duty locomotives, the traction force of the traction motor is converted into locomotive power in the form of adhesion between the wheels and rails to drive the train forward. According to the adhesion characteristic curve of heavy-duty locomotives, t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B61C15/14
CPCB61C15/14Y02T10/72
Inventor 赵凯辉李鹏张昌凡何静李祥飞李燕飞殷童欢
Owner HUNAN UNIV OF TECH
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